WO2020103865A1

WO2020103865A1 - Hand-powered self-driven travelling machine

Info

Publication number: WO2020103865A1
Application number: PCT/CN2019/119703
Authority: WO
Inventors: 朱荣根; 陈亮
Original assignee: 南京德朔实业有限公司
Priority date: 2018-11-20
Filing date: 2019-11-20
Publication date: 2020-05-28
Also published as: US20220071096A1; EP3854194A1; CA3120730A1; CN111726980A; CN111726980B; EP3854194A4

Abstract

A hand-powered self-driven travelling machine (100), comprising: a main unit (11); wheels (13); a handle (12), which is connected to the main unit (11); a motor (14); a driving member (152), which matches the motor (14) and can be driven by the motor (14); a driven member (153), which matches the wheels (13) and can drive the wheels (13) to rotate; and a clutch (151). When the clutch (151) is located at a first position, the driving member (152) is allowed to transmit power to the driven member (153); when the clutch (151) is located at a second position, a power transfer path between the motor (14) and the wheels (13) is broken; the clutch (151) is rotatably mounted at the driving member (152); when the clutch (151) is rotated to the first position, the clutch (151) is in contact with the driven member (153), and when the clutch (151) is rotated to the second position, the clutch (151) is separated from the driven member (153). The clutch structure is simple and effective, and the operations of the machine are convenient.

Description

手推式自驱行进机器Walk-behind self-driving traveling machine

本公开要求在2018年11月20日提交中国专利局、申请号为201811385342.4的中国专利申请的优先权，以上申请的全部内容通过引用结合在本公开中。This disclosure requires the priority of a Chinese patent application filed with the Chinese Patent Office on November 20, 2018, with application number 201811385342.4. The entire contents of the above applications are incorporated by reference in this disclosure.

技术领域Technical field

本申请涉及一种手推式自驱行进机器。This application relates to a hand-propelled self-driving traveling machine.

背景技术Background technique

割草机、扫雪机等是常见的手推式自驱行进机器。手推式自驱行进机器包括马达、轮子和传动装置。马达通过传动装置驱动轮子转动，使手推式自驱行进机器相对于地面运动。一般而言，为满足机器的转向需要，机器设置有离合件。相关技术中，带有离合件的手推式自驱动机器是在马达轴停止转动时，用户手动推动机器使得离合件断开轮子和马达轴之间的传动，这样导致操作不方便。少有的不需要用户手动操作的具有“自动”离合件的机器则由于离合件结构的设计不合理容易导致“锁死”、“卡顿”或者离合结构过于繁琐等问题。Lawn mowers, snow sweepers, etc. are common hand-push self-propelled traveling machines. The hand-propelled self-driving traveling machine includes a motor, wheels and transmission devices. The motor drives the wheels to rotate through the transmission device, so that the hand-propelled self-driving traveling machine moves relative to the ground. Generally speaking, in order to meet the steering needs of the machine, the machine is provided with a clutch. In the related art, a hand-pushing self-driving machine with a clutch member is that when the motor shaft stops rotating, the user manually pushes the machine so that the clutch member disconnects the transmission between the wheel and the motor shaft, which results in inconvenient operation. Few machines with "automatic" clutch parts that do not require manual operation by the user are prone to problems such as "lock-up", "stuck" or excessively complicated clutch structure due to the unreasonable design of the clutch structure.

发明内容Summary of the invention

本申请提供了一种手推式自驱行进机器，其离合件结构简单有效且能够使机器的操作更加方便流畅。The present application provides a hand-propelled self-driving traveling machine, whose clutch member has a simple and effective structure and can make the operation of the machine more convenient and smooth.

本申请采用如下的技术方案：This application uses the following technical solutions:

一种手推式自驱行进机器，包括：主机；轮子，用于支撑主机并带动主机行走；把手，与主机连接；马达，用于驱动轮子转动；主动件，与马达配接并能被马达驱动；从动件，与轮子配接并能驱动轮子转动；离合件，能在第一位置和第二位置之间切换，在离合件位于第一位置时，离合件允许主动件将动力传输至从动件，在离合件位于第二位置时，离合件断开马达和轮子之间的动力的传递路径；其中，离合件可转动地安装至主动件，在离合件转动至第一位置时，离合件与从动件接触，在离合件转动至第二位置时，离合件与从动件脱离；或者，离合件可转动地安装至从动件，在离合件转动至第一位置时，离合件与主动件接触，在离合件转动至第二位置时，离合件与主动件脱离。A hand-push self-driving traveling machine includes: a host; wheels, used to support the host and drive the host to walk; a handle, connected to the host; a motor, used to drive the wheels to rotate; an active part, which is matched with the motor and can be driven by the motor Drive; follower, mated with the wheel and can drive the wheel to rotate; clutch member, can switch between the first position and the second position, when the clutch member is in the first position, the clutch member allows the driving member to transmit power to The driven member, when the clutch member is in the second position, the clutch member disconnects the power transmission path between the motor and the wheel; wherein, the clutch member is rotatably mounted to the driving member, and when the clutch member rotates to the first position, The clutch member is in contact with the driven member. When the clutch member rotates to the second position, the clutch member is disengaged from the driven member; or, the clutch member is rotatably mounted to the driven member, and when the clutch member rotates to the first position, the clutch The component contacts the active component, and when the clutch component rotates to the second position, the clutch component disengages from the active component.

可选地，离合件包括连接部、活动部和驱动部；连接部可转动地安装至主动件或从动件，活动部和驱动部分别连接至连接部或者与连接部一体成型。Optionally, the clutch part includes a connecting part, a moving part and a driving part; the connecting part is rotatably mounted to the driving part or the driven part, and the moving part and the driving part are respectively connected to the connecting part or integrally formed with the connecting part.

可选地，马达包括马达轴；活动部相对从动件具有断开位置和驱动位置，驱动部能够驱动活动部在断开位置和驱动位置之间切换；当活动部处于驱动位置时，马达轴能够驱动轮子转动，当活动部处于断开位置时，轮子能相对于马达轴自由转动。Optionally, the motor includes a motor shaft; the movable portion has an off position and a driving position relative to the follower, the driving portion can drive the movable portion to switch between the off position and the driving position; when the movable portion is in the driving position, the motor shaft The wheel can be driven to rotate. When the movable part is in the off position, the wheel can rotate freely with respect to the motor shaft.

可选地，主动件上设置有用于限制活动部的活动范围的止挡部。Optionally, the active part is provided with a stopper for limiting the movable range of the movable part.

可选地，还包括用于容纳主动件和从动件的壳体，当离合件可转动地安装至主动件时，连接部安装至主动件，驱动部与壳体表面构成接触且产生有垂直于接触面的正压力，活动部能够与从动件接触或分离。Optionally, a housing for accommodating the driving member and the driven member is also included. When the clutch member is rotatably mounted to the driving member, the connecting portion is mounted to the driving member, and the driving portion comes into contact with the surface of the housing and generates a vertical Due to the positive pressure on the contact surface, the movable part can contact or separate from the follower.

可选地，壳体形成有一个接触面，驱动部具有一个向外突出的凸面，凸面与接触面构成挤压接触。Optionally, the housing is formed with a contact surface, and the driving portion has a convex surface protruding outward, and the convex surface and the contact surface form a pressing contact.

可选地，主动件为齿轮，从动件为棘轮，驱动部和活动部分别沿主动件的厚度方向设置于主动件的两侧。Optionally, the driving member is a gear, and the driven member is a ratchet, and the driving part and the movable part are respectively disposed on both sides of the driving member along the thickness direction of the driving member.

可选地，当离合件可转动地安装至从动件时，连接部安装至从动件，驱动部与主动件表面构成接触且产生有垂直于接触面的正压力，活动部能够与主动件接触或分离。Optionally, when the clutch member is rotatably mounted to the driven member, the connecting portion is mounted to the driven member, the driving portion makes contact with the surface of the active member and generates a positive pressure perpendicular to the contact surface, the movable portion can be in contact with the active member Touch or separate.

可选地，主动件为棘轮，从动件为齿轮，驱动部和活动部沿从动件的厚度方向设置于从动件的同侧。Optionally, the driving member is a ratchet wheel, the driven member is a gear, and the driving portion and the movable portion are disposed on the same side of the driven member along the thickness direction of the driven member.

可选地，当马达沿第一方向转动时，离合件能够从第二位置切换至第一位置；当马达沿与第一方向相反的第二方向转动时，离合件从第一位置切换至第二位置。Optionally, when the motor rotates in the first direction, the clutch can be switched from the second position to the first position; when the motor rotates in the second direction opposite to the first direction, the clutch can be switched from the first position to the first Second position.

可选地，当马达沿第一方向转动时，活动部能够相对主动件由断开位置运动至驱动位置；当马达沿第二方向转动，活动部相对主动件由驱动位置运动至断开位置。Optionally, when the motor rotates in the first direction, the movable part can move from the off position to the driving position relative to the active part; when the motor rotates in the second direction, the movable part moves from the driving position to the off position relative to the active part.

可选地，还包括用于与驱动部构成磁性接触的磁性元件。Optionally, a magnetic element for making magnetic contact with the driving part is also included.

可选地，还包括：控制装置，用于控制马达的运转；控制装置包括：操作开关，用户供用户操作，且与马达实现连接或者通信连接；启动模块，能够发出第一信号和第二信号，其中第一信号用于控制马达沿第一方向转动，第二信号用于控制马达停止转动。Optionally, it also includes: a control device for controlling the operation of the motor; the control device includes: an operation switch for the user to operate, and is connected or communicatively connected to the motor; a startup module capable of sending out the first signal and the second signal , Where the first signal is used to control the motor to rotate in the first direction, and the second signal is used to control the motor to stop rotating.

可选地，控制装置还包括：控制模块，与操作开关构成通信连接或电连接，Optionally, the control device further includes: a control module, which forms a communication connection or an electrical connection with the operation switch,

其中，当启动模块发出第二信号时，控制模块控制马达在预设时长内沿第二方向转动，预设时长为2秒至20秒。Wherein, when the start module sends a second signal, the control module controls the motor to rotate in the second direction within a preset duration, the preset duration is 2 seconds to 20 seconds.

可选地，主机；轮子，用于支撑主机并带动主机行走；把手，与主机连接；马达，用于驱动轮子转动；主动件，与马达配接并能被马达驱动；从动件，与轮子配接并能驱动轮子转动；离合件，能在第一位置和第二位置之间切换，在离合件位于第一位置时，离合件允许主动件将动力传输至从动件，在离合件位于第二位置时，离合件断开马达和轮子之间的动力的传递路径；其中，离合件可转动地安装至主动件，在离合件转动至第一位置时，离合件与从动件接触，在离合件转动至第二位置时，离合件与从动件脱离。Optionally, the host; the wheels are used to support the host and drive the host to walk; the handle is connected to the host; the motor is used to drive the wheels to rotate; the active part is matched with the motor and can be driven by the motor; the follower is connected to the wheel Mating and can drive the wheels to rotate; the clutch member can be switched between the first position and the second position. When the clutch member is in the first position, the clutch member allows the driving member to transmit power to the driven member, where the clutch member is located In the second position, the clutch member disconnects the power transmission path between the motor and the wheel; wherein, the clutch member is rotatably mounted to the driving member, and when the clutch member rotates to the first position, the clutch member contacts the driven member, When the clutch member rotates to the second position, the clutch member is separated from the driven member.

可选地，离合件包括连接部、活动部和驱动部；连接部可转动地安装至主动件或从动件，活动部和驱动部分别连接至连接部或者与连接部一体成型。Optionally, the clutch includes a connecting part, a movable part and a driving part; the connecting part is rotatably mounted to the driving part or the driven part, and the movable part and the driving part are respectively connected to the connecting part or integrally formed with the connecting part.

可选地，控制装置还包括：控制模块，与操作开关构成通信连接或电连接，其中，当启动模块发出第二信号时，控制模块控制马达在预设时长内沿第二方向转动，预设时长为2秒至20秒。Optionally, the control device further includes: a control module, which forms a communication connection or an electrical connection with the operation switch, wherein, when the start module sends a second signal, the control module controls the motor to rotate in the second direction within a preset duration, the preset The duration is 2 to 20 seconds.

可选地，主机；轮子，用于支撑主机并带动主机行走；把手，与主机连接；马达，用于驱动轮子转动；主动件，与马达配接并能被马达驱动；从动件，与轮子配接并能驱动轮子转动；离合件，能在第一位置和第二位置之间切换，在离合件位于第一位置时，离合件允许主动件将动力传输至从动件，在离合件位于第二位置时，离合件断开马达和轮子之间的动力的传递路径；其中，离合件可转动地安装至从动件，在离合件转动至第一位置时，离合件与主动件接触，在离合件转动至第二位置时，离合件与主动件脱离。Optionally, the host; the wheels are used to support the host and drive the host to walk; the handle is connected to the host; the motor is used to drive the wheels to rotate; the active part is matched with the motor and can be driven by the motor; the follower is connected to the wheel Mating and can drive the wheels to rotate; the clutch member can be switched between the first position and the second position. When the clutch member is in the first position, the clutch member allows the driving member to transmit power to the driven member, where the clutch member is located In the second position, the clutch member disconnects the power transmission path between the motor and the wheel; wherein, the clutch member is rotatably mounted to the driven member, and when the clutch member rotates to the first position, the clutch member contacts the driving member, When the clutch member rotates to the second position, the clutch member is separated from the active member.

可选地，还包括用于容纳主动件和从动件的壳体，当离合件可转动地安装至从动件时，连接部安装至从动件，驱动部与主动件表面构成接触且产生有垂直于接触面的正压力，活动部能够与主动件接触或分离。Optionally, a housing for accommodating the driving member and the driven member is also included. When the clutch member is rotatably mounted to the driven member, the connecting portion is mounted to the driven member, and the driving portion comes into contact with the surface of the driving member and generates With a positive pressure perpendicular to the contact surface, the movable part can contact or separate from the active part.

本申请的手推式自驱行进机器具有更加简单有效的离合件，从而使得用户实际操作手推式自驱行进机器更加方便流畅。The hand-propelled self-driving traveling machine of the present application has a simpler and more effective clutch part, thereby making it more convenient and smooth for the user to actually operate the hand-push self-driving traveling machine.

附图说明BRIEF DESCRIPTION

图1是本申请的第一实施例的手推式割草机的示意图；FIG. 1 is a schematic diagram of a hand-push mower according to the first embodiment of the present application;

图2是图1中的手推式割草机的部分结构的立体图；2 is a perspective view of a part of the structure of the hand-push mower in FIG. 1;

图3是图1中的手推式割草机的部分结构的立体图；3 is a perspective view of a part of the structure of the hand-push mower in FIG. 1;

图4是图1中的手推式割草机的传动装置的部分结构的立体图；4 is a perspective view of a partial structure of the transmission device of the hand-push mower of FIG. 1;

图5是图1中的手推式割草机的传动装置的部分结构的剖视图；5 is a cross-sectional view of a partial structure of the transmission device of the hand-push mower in FIG. 1;

图6是图1中的手推式割草机的传动装置的部分结构的剖视图；6 is a cross-sectional view of a partial structure of the transmission device of the hand-push mower in FIG. 1;

图7是图1中的手推式割草机的传动装置的部分结构的***图；7 is an exploded view of the partial structure of the transmission device of the hand-push mower in FIG. 1;

图8是图1中的手推式割草机的传动装置的部分结构的立体图；8 is a perspective view of a partial structure of the transmission device of the hand-push mower in FIG. 1;

图9是本申请的第一实施例的手推式割草机的离合件工作原理模型示意图；9 is a schematic diagram of the working principle model of the clutch of the hand-push mower of the first embodiment of the present application;

图10是图4中的传动装置的正视图，其中活动件处于驱动位置；10 is a front view of the transmission device in FIG. 4, wherein the movable member is in the driving position;

图11是图4中的传动装置的后视图，其中活动件处于驱动位置；11 is a rear view of the transmission device in FIG. 4 with the movable member in the driving position;

图12是图4中的传动装置的正视图，其中活动件处于断开位置；12 is a front view of the transmission device in FIG. 4, wherein the movable member is in a disconnected position;

图13是图4中的传动装置的后视图，其中活动件处于断开位置；13 is a rear view of the transmission device in FIG. 4 with the movable member in the disconnected position;

图14是图4中的传动装置的部分结构的立体图；14 is a perspective view of a partial structure of the transmission device in FIG. 4;

图15是图4中的传动装置的离合结构的立体图；15 is a perspective view of the clutch structure of the transmission device in FIG. 4;

图16是本申请的第二实施例的手推式割草机的传动装置的部分结构的立体图；16 is a perspective view of a partial structure of a transmission device of a hand-push lawnmower according to a second embodiment of the present application;

图17是图16中的传动装置的部分结构的剖视图；17 is a cross-sectional view of a partial structure of the transmission device in FIG. 16;

图18是图16中的传动装置的部分结构的***图。18 is an exploded view of the partial structure of the transmission device in FIG. 16.

具体实施方式detailed description

图1所示的手推式自驱行进机器可以为用于在室内或者户外进行工作的电动机械，在本实施例中，该手推式自驱行进机器以手推式割草机100为例，手推式割草机100可以供用户手推操控以修剪草坪、植被等。The hand-propelled self-propelled traveling machine shown in FIG. 1 may be an electric machine used to work indoors or outdoors. In this embodiment, the hand-propelled self-propelled traveling machine uses a hand-push mower 100 as an example The hand-push lawnmower 100 can be operated by the user to trim the lawn, vegetation, etc. by hand.

可以理解的，该推式自驱行进机器还可以为其它类型的工具，可以是通过输出一定形式的动力来实现其工具功能的手推式电动工具，例如手推式扫雪机、手推式自动扫地机、手推式自动洒水机等，当然，可以理解的，手推式自驱行进机器还可以是用于其它用途的工具，例如手推式叉车等。事实上，只要这些工具包括本实用新型中的以下描述的实质性内容均属于本实用新型所保护的范围。It can be understood that the push-type self-driving traveling machine can also be other types of tools, which can be hand-push type electric tools that output a certain form of power to realize the function of the tool, such as a hand-push snow sweeper, a hand-push type Automatic sweeping machines, hand-push automatic sprinklers, etc. Of course, it can be understood that the hand-push self-driving traveling machine can also be a tool used for other purposes, such as a hand-push forklift and the like. In fact, as long as these tools include the substantive content of the following description in the present utility model, they all fall within the protection scope of the present utility model.

如图1至图4所示，手推式割草机100包括：主机11、把手12、轮子13、马达14和传动装置15。主机11用于安装马达14；轮子13用于支撑主机11并带动主机11行走，轮子13接触地面，轮子13能相对于主机11绕第一轴线101或者平行于第一轴线101的轴线转动，使手推式割草机100相对于地面运动；把手12供用户推动或操作，以对手推式割草机100进行控制，把手12连接至主机11，用户可以推动把手12使主机11和轮子13相对于地面移动，从而使手推式割草机100相对于地面运动。马达14包括马达轴141，马达轴141驱动轮子13转动，马达轴141的转动轴线为第一轴线101。As shown in FIGS. 1 to 4, the hand-push mower 100 includes: a main body 11, a handle 12, a wheel 13, a motor 14 and a transmission device 15. The host 11 is used to install the motor 14; the wheel 13 is used to support the host 11 and drive the host 11 to walk. The wheel 13 contacts the ground. The wheel 13 can rotate relative to the host 11 about the first axis 101 or an axis parallel to the first axis 101, so that The hand-push mower 100 moves relative to the ground; the handle 12 is for the user to push or operate, which is controlled by the hand-push mower 100, the handle 12 is connected to the main body 11, the user can push the handle 12 to make the main body 11 and the wheel 13 opposite Moves on the ground, so that the hand-held mower 100 moves relative to the ground. The motor 14 includes a motor shaft 141 which drives the wheel 13 to rotate. The rotation axis of the motor shaft 141 is the first axis 101.

作为一种具体实施方式，马达14为电机。马达14也可以称之为自行走电机。手推式割草机100还包括为马达14供电的电池包。作为一种可选的实施方式，马达14也可以是以燃料燃烧为动力的内燃机。As a specific embodiment, the motor 14 is a motor. The motor 14 can also be called a self-propelled motor. The push lawn mower 100 also includes a battery pack that supplies power to the motor 14. As an alternative embodiment, the motor 14 may also be an internal combustion engine powered by fuel combustion.

传动装置15在马达14和轮子13之间传递动力。传动装置15连接马达轴141和轮子13，在马达轴141和轮子13之间实现传动。在一些实施例中，传动装置15在马达轴141和轮子13之间实现单向传动，传动装置15在马达轴141主动转动时驱动轮子13转动，当轮子13不受传动装置15驱动时，轮子13能相对于马达轴141自由转动。传动装置15包括离合件151，通过离合件151来使得传动装置15在马达轴141之间传递动力或者不传动动力。在一些实施例中，离合件151具有第一位置和第二位置，离合件151能够在第二位置和第一位置之间切换；当马达14绕第一轴线101且沿第一方向11’转动，离合件151切换至第一位置，马达轴141驱动轮子13转动；当马达14绕第一轴线101且沿与第一方向11’相反的第二方向转动，离合件151切换至第二位置，轮子13能相对于马达轴141自由转动。The transmission 15 transmits power between the motor 14 and the wheels 13. The transmission device 15 connects the motor shaft 141 and the wheel 13, and realizes transmission between the motor shaft 141 and the wheel 13. In some embodiments, the transmission device 15 realizes unidirectional transmission between the motor shaft 141 and the wheel 13. The transmission device 15 drives the wheel 13 to rotate when the motor shaft 141 actively rotates. When the wheel 13 is not driven by the transmission device 15, the wheel 13 can rotate freely with respect to the motor shaft 141. The transmission device 15 includes a clutch 151 through which the transmission device 15 transmits or does not transmit power between the motor shafts 141. In some embodiments, the clutch 151 has a first position and a second position, the clutch 151 can be switched between the second position and the first position; when the motor 14 rotates about the first axis 101 and along the first direction 11 ' , The clutch member 151 is switched to the first position, the motor shaft 141 drives the wheel 13 to rotate; when the motor 14 rotates around the first axis 101 and in the second direction opposite to the first direction 11 ', the clutch member 151 is switched to the second position, The wheel 13 can rotate freely with respect to the motor shaft 141.

手推式割草机100还设置有控制装置16，用于控制马达14的运转，包括控制马达14启动、停止以及调节马达14的转速等。在一些实施例中，控制装置16包括与马达14实现电连接或者通信连接的操作开关，用于可以通过操作操作开关使得马达14启动或者停止转动。控制装置16还包括供用户操作以调节马达14转速的调速开关；作为一种可选择的实施方式，操作开关和调速开关集成为一个操作件。作为一种可选方式，控制装置16还包括信号收发装置，用于接收操作开关发出的信号并传递给马达14，马达14对该信号作出相应的反应。控制装置16还包括启动模块，启动模块能发出一个控制马达14正转的第一信号且能发出一个控制马达14停止转动的第二信号；控制装置16还包括控制模块，控制模块在启动模块发出第二信号时控制马达14在一个预设时长内反转，预设时长约为2秒至20秒，可选为5秒。在一些实施例中，控制模块与操作开关构成通信连接或电连接。当用于操作操作开关时，操作开关向控制模块发出信号，控制模块控制马达14响应。The hand-mower 100 is also provided with a control device 16 for controlling the operation of the motor 14, including controlling the start and stop of the motor 14 and adjusting the rotation speed of the motor 14. In some embodiments, the control device 16 includes an operation switch that is electrically or communicatively connected to the motor 14 for enabling the motor 14 to start or stop rotation by operating the operation switch. The control device 16 further includes a speed switch for user operation to adjust the rotation speed of the motor 14; as an alternative embodiment, the operation switch and the speed switch are integrated into one operating piece. As an optional manner, the control device 16 further includes a signal transceiving device for receiving a signal from the operation switch and transmitting it to the motor 14, and the motor 14 responds to the signal accordingly. The control device 16 also includes a start module, which can send a first signal that controls the motor 14 to rotate forward and a second signal that controls the motor 14 to stop rotating; the control device 16 also includes a control module, which sends out a signal from the start module When the second signal is used, the motor 14 is controlled to reverse within a preset duration. The preset duration is about 2 seconds to 20 seconds, optionally 5 seconds. In some embodiments, the control module and the operation switch form a communication connection or an electrical connection. When used to operate the operation switch, the operation switch sends a signal to the control module, which controls the motor 14 to respond.

本实施例中采用如下控制方式实现离合件151状态的切换：当用户触发操作开关时，操作开关向电控元件发出信号，电控元件接收到该信号后控制马达14正转，也即是绕第一轴线101沿第一方向11’转动；当用户释放操作开关，操作开关向电控元件发出信号，电控元件则控制马达14反转，也即是绕第一轴线101沿第二方向转动，从而实现离合件151在第一位置和第二位置之间切换；也即是说，在此控制方式下，只要用户释放操作开关，轮子13便能相对于马达轴141自由转动，此时在不触发操作开关的前提下用户可手推机器前进或者后退。作为一种可选择的实施方式，操作开关具有分别控制马达14正转和反转的两个档位；作为另一种可选择的实施方式，控制装置16还包括独立与操作开关的用于控制电机反转的第二开关。操作开关和第二开关的结构，可以是扳机、拨扭等形式的机械开关也可以是信号开关。In this embodiment, the following control mode is used to switch the state of the clutch 151: when the user triggers the operation switch, the operation switch sends a signal to the electronic control element. After receiving the signal, the electric control element controls the motor 14 to rotate forward, that is, around The first axis 101 rotates in the first direction 11 '; when the user releases the operation switch, the operation switch sends a signal to the electronic control element, and the electronic control element controls the motor 14 to reverse, that is, rotates around the first axis 101 in the second direction , So that the clutch 151 can be switched between the first position and the second position; that is to say, in this control mode, as long as the user releases the operation switch, the wheel 13 can freely rotate relative to the motor shaft 141, at this time The user can manually push the machine forward or backward without triggering the operation switch. As an alternative embodiment, the operation switch has two gear positions that respectively control the forward and reverse rotation of the motor 14; as another alternative embodiment, the control device 16 further includes an independent and operation switch for controlling Second switch for motor reversal. The structure of the operation switch and the second switch may be a mechanical switch in the form of a trigger, a toggle, etc., or a signal switch.

传动装置15包括主动件152和从动件153，主动件152直接或间接连接至马达轴141且被马达轴141驱动，从动件153直接或间接连接至轮子13且驱动轮子13，主动件152驱动从动件153转动；在一些实施例中，传动装置15为齿轮传动；在一些实施例中，主动件152为直齿轮，从动件153为棘轮。离合件151用于实现主动件152和从动件153之间的动力传动；在离合件151位于第一位置时，离合件151允许主动件152将动力传输至从动件153，在离合件151位于第二位置时，离合件151断开马达14和轮子13之间的动力的传递路径；在一些实施例中，当离合件151处于第一位置，离合件151连接主动件152和从动件153；当离合件151处于第二位置，离合件151不连接主动件152和从动件153；在一些实施例中，当离合件151处于第二位置，离合件151不与主动件152或者从动件153相连。本实施例中，离合件151可转动地安装至主动件152，当离合件151处于第一位置，离合件151同时接触至从动件153，当离合件151处于第二位置，离合件151与从动件153脱离。The transmission device 15 includes a driving member 152 and a driven member 153. The driving member 152 is directly or indirectly connected to and driven by the motor shaft 141. The driven member 153 is directly or indirectly connected to the wheel 13 and drives the wheel 13. The driving member 152 The driven member 153 is driven to rotate; in some embodiments, the transmission device 15 is a gear transmission; in some embodiments, the driving member 152 is a spur gear, and the driven member 153 is a ratchet. The clutch member 151 is used to realize the power transmission between the driving member 152 and the driven member 153; when the clutch member 151 is in the first position, the clutch member 151 allows the driving member 152 to transmit power to the driven member 153, and the clutch member 151 When in the second position, the clutch member 151 disconnects the power transmission path between the motor 14 and the wheel 13; in some embodiments, when the clutch member 151 is in the first position, the clutch member 151 connects the driving member 152 and the driven member 153; when the clutch member 151 is in the second position, the clutch member 151 does not connect the driving member 152 and the driven member 153; in some embodiments, when the clutch member 151 is in the second position, the clutch member 151 is not connected with the driving member 152 or from The moving member 153 is connected. In this embodiment, the clutch member 151 is rotatably mounted to the driving member 152. When the clutch member 151 is in the first position, the clutch member 151 contacts the driven member 153 at the same time. When the clutch member 151 is in the second position, the clutch member 151 and The follower 153 is disengaged.

如图5至图8所示，在一些实施例中，离合件151包括连接部151a和活动部151b；活动部151b连接至连接部151a，连接部151a连接至主动件152；当离合件151在第一位置和第二位置之间切换时，马达14驱动主动件152转动，连接部151a与主动件152构成同步转动；活动部151b相对主动件152发生相对运动。在一些实施例中，活动部151b具有断开位置和驱动位置，分别对应离合件151的第一位置和第二位置；活动部151b在断开位置和驱动位置之间切换使得离合件151能够在第二位置和第一位置之间切换；在一些实施例中，当马达14沿第一方向11’转动时，离合件151由第二位置被切换至第一位置，活动部151b相对主动件152由断开位置运动至驱动位置；当马达14沿第二方向转动时，离合件151由第一位置被切换至第二位置，活动部151b相对主动件152由驱动位置运动至断开位置。当活动部151b处于驱动位置时，马达轴141能够驱动轮子13转动，当活动部151b处于断开位置时，轮子13能相对于马达轴141自由转动。As shown in FIGS. 5 to 8, in some embodiments, the clutch 151 includes a connecting part 151a and a movable part 151b; the movable part 151b is connected to the connecting part 151a, and the connecting part 151a is connected to the active part 152; when the clutch 151 is in When switching between the first position and the second position, the motor 14 drives the driving member 152 to rotate, and the connecting portion 151a and the driving member 152 rotate synchronously; the movable portion 151b moves relative to the driving member 152. In some embodiments, the movable portion 151b has a disconnected position and a driven position, respectively corresponding to the first position and the second position of the clutch 151; the movable portion 151b switches between the disconnected position and the driven position so that the clutch 151 can Switching between the second position and the first position; in some embodiments, when the motor 14 rotates in the first direction 11 ', the clutch member 151 is switched from the second position to the first position, and the movable portion 151b is opposite to the active member 152 Moving from the off position to the driving position; when the motor 14 rotates in the second direction, the clutch member 151 is switched from the first position to the second position, and the movable portion 151b moves from the driving position to the off position relative to the active member 152. When the movable portion 151b is in the driving position, the motor shaft 141 can drive the wheel 13 to rotate, and when the movable portion 151b is in the off position, the wheel 13 can freely rotate relative to the motor shaft 141.

马达14可以直接通过马达轴141驱动主动件152转动，也可以通过其他传动结构驱动主动件152。连接部151a与主动件152构成活动连接，活动部151b与连接部151a一体成型或构成固定连接；作为一种可选择的实施方式，连接部151a与主动件152构成固定连接，活动部151b与连接部151a构成活动连接。在本实施例中，连接部151a与主动件152构成转动连接，活动部151b与连接部151a一体成型或者构成固定连接。The motor 14 can directly drive the driving member 152 to rotate through the motor shaft 141, or can drive the driving member 152 through other transmission structures. The connection part 151a and the active part 152 form a movable connection, and the movable part 151b and the connection part 151a are integrally formed or form a fixed connection; as an alternative embodiment, the connection part 151a and the active part 152 form a fixed connection, and the movable part 151b and the connection The part 151a constitutes an active connection. In this embodiment, the connecting portion 151a and the active member 152 form a rotational connection, and the movable portion 151b and the connecting portion 151a are integrally formed or constitute a fixed connection.

离合件151还包括驱动部151c，当离合件151在第一位置和第二位置之间切换时，驱动部151c驱动活动部151b相对主动件152运动。也即是说，当离合件151在第一位置和第二位置之间切换时，马达14沿第一方向11’转动以驱动主动件152转动，主动件152的转动带动驱动部151c运动，进而驱动部151c驱动活动部151b相对主动件152运动，从而实现活动部151b在驱动位置和断开位置之间的切换。在一些实施例中，驱动部151c与活动部151b构成联动；在主动件152沿第一方向11’转动时，驱动部151c自发运动至与活动部151b的驱动位置相对应的位置；在主动件152沿第二方向转动时，驱动部151c自发运动至与活动部151b的断开位置相对应的位置。需要说明的是，如果活动部151b本身处于驱动位置，主动件152沿第一方向11’转动时，驱动部151c则不发生位移；如果活动部151b本身处于断开位置，主动件152沿第二方向转动时，驱动部151c也不发生位移。The clutch 151 further includes a driving part 151c. When the clutch 151 is switched between the first position and the second position, the driving part 151c drives the movable part 151b to move relative to the active part 152. That is to say, when the clutch member 151 is switched between the first position and the second position, the motor 14 rotates in the first direction 11 'to drive the driving member 152 to rotate, and the rotation of the driving member 152 drives the driving portion 151c to move, thereby The driving portion 151c drives the movable portion 151b to move relative to the active member 152, so that the movable portion 151b is switched between the driving position and the off position. In some embodiments, the driving part 151c and the movable part 151b form a linkage; when the active part 152 rotates in the first direction 11 ', the driving part 151c spontaneously moves to a position corresponding to the driving position of the movable part 151b; When 152 rotates in the second direction, the driving part 151c spontaneously moves to a position corresponding to the disconnection position of the movable part 151b. It should be noted that if the movable part 151b itself is in the driving position and the active part 152 rotates in the first direction 11 ', the driving part 151c does not move; if the movable part 151b itself is in the disconnected position, the active part 152 along the second When rotating in the direction, the driving portion 151c does not displace.

传动装置15还包括用于容纳主动件152和从动件153的壳体154，在轴向上壳体154安装至轮子13的一侧，壳体154与主动件152和从动件153在轴向上位于轮子13的同侧。壳体154包括一个与驱动部151c接触的接触面154a，在本实施例中，接触面154a为壳体154的一个端面，端面在垂直于轴向的平面内延伸。The transmission device 15 further includes a housing 154 for accommodating the driving member 152 and the driven member 153, and the housing 154 is mounted to one side of the wheel 13 in the axial direction. The housing 154 and the driving member 152 and the driven member 153 are on the shaft Located on the same side of the wheel 13 upwards. The housing 154 includes a contact surface 154a that contacts the driving portion 151c. In this embodiment, the contact surface 154a is an end surface of the housing 154, and the end surface extends in a plane perpendicular to the axial direction.

本实施例中离合件151在第一位置与第二位置之间切换的运动原理如下：马达轴141沿第一方向11’转动时，主动件152被马达轴141驱动，由于连接部151a连接至主动件152并与主动件152同步转动，驱动部151c在连接部151a的拉力和接触面154a的摩擦力的合力作用下相对主动件152运动，从而带动活动部151b相对主动件152运动。驱动部151c在转动过程中所受到的接触面154a的摩擦力和连接部151a的拉力的方向不断发生变化导致驱动部151c的受力不断变化，在无其他阻挡的情况下驱动部151c将运动至受力平衡的平衡位置为止。在驱动部151c运动至平衡位置之前，活动部151b在驱动部151c的驱动下运动至驱动位置，受到从动件153的阻力不再继续运动，驱动部151c受到活动部151b的阻力也停止运动。反之，当马达轴141沿第二方向转动时，驱动部151c在连接部151a的拉力和接触面154a的摩擦力的作用下相对主动件152运动，从而带动活动部151b发生相对运动，脱离与从动件153的接触，运动至断开位置。需要说明的是，活动部151b不与从动件153构成连接或接触的任意位置均为断开位置。In this embodiment, the movement principle of the clutch member 151 switching between the first position and the second position is as follows: When the motor shaft 141 rotates in the first direction 11 ', the driving member 152 is driven by the motor shaft 141, because the connecting portion 151a is connected to The driving member 152 rotates synchronously with the driving member 152, and the driving portion 151c moves relative to the driving member 152 under the combined force of the pulling force of the connecting portion 151a and the friction force of the contact surface 154a, thereby driving the movable portion 151b to move relative to the driving member 152. The frictional force of the contact surface 154a and the direction of the pulling force of the connecting part 151a during the rotation of the driving part 151c continuously change resulting in the continuous change of the force of the driving part 151c. Without other obstructions, the driving part 151c will move to Until the balanced position of the force balance. Before the driving portion 151c moves to the equilibrium position, the movable portion 151b moves to the driving position under the driving of the driving portion 151c, the resistance of the follower 153 does not continue to move, and the driving portion 151c stops moving due to the resistance of the movable portion 151b. Conversely, when the motor shaft 141 rotates in the second direction, the driving portion 151c moves relative to the active member 152 under the action of the pulling force of the connecting portion 151a and the frictional force of the contact surface 154a, thereby driving the movable portion 151b to undergo relative movement, and the The contact of the movable member 153 moves to the off position. It should be noted that any position where the movable portion 151b does not connect or contact with the follower 153 is a disconnected position.

为了说明驱动部151c和活动部151b相对主动件152发生的运动的原理，采用以下原理模型进行解释：In order to explain the principle of the movement of the driving part 151c and the movable part 151b relative to the active part 152, the following principle model is used for explanation:

如图9所示，在虚线矩形框所示的竖直面10’内有连杆机构，连接机构包括长杆和短杆，长杆和短杆构成转动连接，短杆的一端固定有小球P’，小球设置在竖直面10’上。当长杆以O’为转轴在平面10’内逆时针转动时，在忽略重力与离心力的条件下：小球P’在A点受到短杆的拉力T以及与平面10’之间的摩擦力f，在两者合力作用下相对于长杆沿着图中箭头所示方向运动，直到小球P’运动至相对平衡位置B点，此时小球P’受到方向相反大小相等的短杆的拉力T’和静摩擦力f’，因此相对于长杆不再继续运动，此时短杆位于以点O’为圆心的小球P’所在的圆周的切线上。反之，当长杆以O’为转轴在平面10’内逆时针转动时，小球P’相对于长杆从C点运动至相对平衡位置B点。As shown in FIG. 9, there is a link mechanism in the vertical plane 10 'shown by the dotted rectangular frame. The connecting mechanism includes a long rod and a short rod. The long rod and the short rod form a rotational connection, and a ball is fixed at one end of the short rod P ', the ball is set on the vertical surface 10'. When the long rod rotates counterclockwise in the plane 10 'with O' as the rotation axis, under the condition of ignoring gravity and centrifugal force: the ball P 'receives the pulling force T of the short rod at point A and the friction force with the plane 10' f, under the combined force of the two, move relative to the long rod in the direction shown by the arrow in the figure until the ball P 'moves to the relative equilibrium position B, at which time the small ball P' receives the opposite direction of the short rod of equal size The pulling force T 'and the static friction force f' therefore no longer continue to move relative to the long bar. At this time, the short bar is located on the tangent line of the circumference where the ball P 'centered at point O' is located. Conversely, when the long rod rotates counterclockwise in the plane 10 'with O' as the rotation axis, the small ball P 'moves from point C to the relative equilibrium position B with respect to the long rod.

根据以上原理模型，可以理解的，本实施例中的离合件15相当于小球P’和短杆构成的整体，主动件152相当于长杆，其中，驱动部151c与壳体154之间形成的摩擦相当于小球P’与竖直面10’构成的摩擦。According to the above principle model, it can be understood that the clutch member 15 in this embodiment is equivalent to the whole formed by the small ball P ′ and the short rod, and the active member 152 is equivalent to the long rod. The friction of is equivalent to the friction formed by the small ball P 'and the vertical plane 10'.

如图10至图15所示，传动装置15还包括止挡部155，止挡部155设置在活动部151b的运动轨迹内的某一个断开位置，即不与从动件153构成连接或接触的任意位置，用于在驱动部151c运动至平衡位置之前阻止活动部151b相对主动件152继续运动，从而使得驱动部151c也停止相对于主动件152的运动。由于主动件152的尺寸限制，因此本实施例中设置了止挡部155限制活动部151b的运动范围，避免活动部151b与其他部件发生干涉。也即是说，由于从动件153和止挡部155的限位，活动部151b只能在驱动位置和止挡部155所在位置对应的断开位置之间运动，从而限定了驱动部151c也只能在与这两个位置对应的位置之间运动。本实施例中，当活动部151b与从动件153啮合时活动部151b的位置为活动部151b的驱动位置，对应离合件151的第一位置；当活动部151b与从动件153分离时活动部151b的位置为活动部151b的断开位置，活动部151b的断开位置有多个，活动部151b只要不与从动件153啮合均处于断开位置，分别对应离合件151的多个第二位置。而当活动部151b运动至与止挡部155发生作用的位置时，其所对应的位置为活动部151b相对于主动件152可到达的最远的断开位置。在一些实施例中，止挡部155为设置在主动件152表面的限位销，当然止挡部155也可以采用其他限位结构。图10至图13所示为活动部151b和驱动部151c在两个极限位置的示意图，其中图10、图11中活动部151b处于驱动位置，驱动部151c处于与活动部151b的驱动位置相对应的位置，图12、图13中活动部151b处于断开位置且抵触至止挡部155，驱动部151c处于与活动部151b的该断开位置相对应的位置。As shown in FIGS. 10 to 15, the transmission device 15 further includes a stopper 155. The stopper 155 is provided at a certain disconnection position within the movement locus of the movable part 151 b, that is, it does not form a connection or contact with the follower 153 Is used to prevent the movable part 151b from continuing to move relative to the active part 152 before the driving part 151c moves to the equilibrium position, so that the driving part 151c also stops moving relative to the active part 152. Due to the size limitation of the active member 152, a stop portion 155 is provided in this embodiment to limit the movement range of the movable portion 151b, so as to avoid interference between the movable portion 151b and other components. That is to say, due to the limit of the follower 153 and the stop portion 155, the movable portion 151b can only move between the driving position and the off position corresponding to the position of the stop portion 155, thereby limiting the driving portion 151c You can only move between the positions corresponding to these two positions. In this embodiment, when the movable part 151b is engaged with the follower 153, the position of the movable part 151b is the driving position of the movable part 151b, corresponding to the first position of the clutch 151; when the movable part 151b is separated from the follower 153, it moves The position of the portion 151b is the disconnected position of the movable portion 151b. There are a plurality of disconnected positions of the movable portion 151b. The movable portion 151b is in the disconnected position as long as it does not mesh with the follower 153. Second position. When the movable portion 151b moves to the position where the stopper 155 acts, the corresponding position is the farthest disconnection position of the movable portion 151b relative to the active member 152. In some embodiments, the stop portion 155 is a limit pin provided on the surface of the active member 152. Of course, the stop portion 155 may also adopt other limit structures. 10 to 13 are schematic diagrams of the movable portion 151b and the driving portion 151c at two extreme positions, wherein the movable portion 151b in FIGS. 10 and 11 is in the driving position, and the driving portion 151c is in correspondence with the driving position of the movable portion 151b In FIGS. 12 and 13, the movable part 151b is in the off position and is in contact with the stopper 155, and the driving part 151c is in a position corresponding to the off position of the movable part 151b.

离合件151可以为一个由金属材质制成的离合件，可以是一体成型或者由多部分组装而成。主动件152为齿轮，驱动部151c和活动部151b分别沿主动件152的厚度方向安装至主动件152的两侧，驱动部151c始终与主动件152的表面相接触。连接部151a为连接轴，沿主动件152的厚度方向穿过主动件152，与主动件152构成转动连接，连接轴的轴向长度约等于齿轮的厚度。活动部151b和驱动部151c分别固定连接至连接部151a的两端或者与连接部151a一体成型，三者构成同步运动。The clutch member 151 may be a clutch member made of a metal material, which may be integrally formed or assembled from multiple parts. The driving member 152 is a gear, and the driving portion 151c and the movable portion 151b are respectively mounted on both sides of the driving member 152 along the thickness direction of the driving member 152, and the driving portion 151c is always in contact with the surface of the driving member 152. The connecting portion 151a is a connecting shaft, passes through the driving member 152 in the thickness direction of the driving member 152, and forms a rotational connection with the driving member 152, and the axial length of the connecting shaft is approximately equal to the thickness of the gear. The movable portion 151b and the driving portion 151c are fixedly connected to both ends of the connecting portion 151a or integrally formed with the connecting portion 151a, and the three constitute a synchronous movement.

驱动部151c为一个金属弹片，驱动部151c可以为勺形金属弹片，勺形金属弹片具有一个向外突出的凸面151d，凸面151d与壳体154的接触面154a构成挤压接触从而形成产生摩擦力的垂直于接触面154a的压力，在驱动部151c相对主动件152运动的过程中，凸面151d与壳体154的接触面154a发生滑动摩擦；作为一种可选择的实施方式，驱动部151c包括能够与壳体154构成磁性连接的磁性元件，通过磁吸力形成产生摩擦力的垂直于接触面154a的压力，此时，壳体154可以本身由磁性材料制成也可以在接触面154a安装有磁性元件。当然，可以理解的，驱动部151c与壳体154接触的结构，只要能够实现驱动部151c与壳体154的相对滑动即可。The driving part 151c is a metal shrapnel, and the driving part 151c may be a scoop-shaped metal shrapnel. The scoop-shaped metal shrapnel has a convex surface 151d protruding outwardly. The convex surface 151d and the contact surface 154a of the housing 154 form a pressing contact to form a friction The pressure perpendicular to the contact surface 154a causes the sliding friction between the convex surface 151d and the contact surface 154a of the housing 154 during the movement of the driving portion 151c relative to the active member 152; as an alternative embodiment, the driving portion 151c includes The magnetic element that forms a magnetic connection with the housing 154 forms a pressure perpendicular to the contact surface 154a that generates friction by magnetic attraction. At this time, the housing 154 may be made of a magnetic material itself or a magnetic element may be installed on the contact surface 154a . Of course, it can be understood that the structure in which the driving portion 151c is in contact with the housing 154 is sufficient as long as the relative sliding of the driving portion 151c and the housing 154 can be achieved.

活动部151b可以为金属棘爪，从动件153可以为棘轮，活动部151b位于驱动位置时，棘爪与棘轮配合，棘轮与轮子13相连，马达14驱动轮子13转动的过程中，马达轴141驱动主动件152转动，棘爪推动棘轮转动，棘轮驱动轮子13转动，从而实现整个传动装置15的运转。活动部151b和驱动部151c均沿垂直于连接部151a的轴线的方向延伸，且两者的延伸方式大致垂直。The movable part 151b may be a metal pawl, and the follower 153 may be a ratchet. When the movable part 151b is in the driving position, the pawl cooperates with the ratchet, the ratchet is connected to the wheel 13, and the motor shaft 141 is driven by the motor 14 driving the wheel 13 to rotate The driving active part 152 rotates, the pawl pushes the ratchet wheel to rotate, and the ratchet wheel drives the wheel 13 to rotate, thereby realizing the operation of the entire transmission device 15. Both the movable portion 151b and the driving portion 151c extend in a direction perpendicular to the axis of the connecting portion 151a, and the extending manner of the two is substantially perpendicular.

在一些实施例中，轮子13与棘轮构成同轴固定连接。可以理解的，活动部151b和从动件153的结构也可以是除棘轮棘爪之外的其他配合结构，只要能够实现马达14正转时，活动部151b在驱动位置驱动从动件153转动即可。In some embodiments, the wheel 13 and the ratchet form a coaxial fixed connection. It can be understood that the structure of the movable part 151b and the follower 153 may be other cooperative structures besides the ratchet pawl. As long as the motor 14 can be rotated forward, the movable part 151b drives the follower 153 to rotate at the driving position, that is, can.

另外，如图2至图4所示，传动装置15还包括减速装置156，可以为减速齿轮箱，减速装置156设置于容纳主动件152和从动件153的壳体154的外部，马达14经过减速装置156减速后再传递动力至主动件152，在一些实施例中，减速装置156包括三级减速。In addition, as shown in FIGS. 2 to 4, the transmission device 15 further includes a reduction device 156, which may be a reduction gear box. The reduction device 156 is disposed outside the housing 154 that houses the driving member 152 and the driven member 153, and the motor 14 passes The deceleration device 156 decelerates and then transmits power to the active member 152. In some embodiments, the deceleration device 156 includes a three-stage deceleration.

如图16至图18所示，与第一实施例中的手推式自驱行进机器100的离合件151一致，本申请的第二实施例的手推式自驱行进机器的离合件251也具有第一位置和第二位置，且离合件251在第一位置和第二位置之间切换，在离合件251位于第一位置时，离合件251允许主动件252将动力传输至从动件253，在离合件251位于第二位置时，离合件251断开马达和轮子之间的动力的传递路径；另外，本实施例中离合件251在第一位置和第二位置之间的切换也是通过电机的正反转实现的。不同的是，本实施例中离合件251可转动地安装至从动件253，在离合件251运动至第一位置时，离合件251与主动件252接触，在离合件251运动至第二位置时，离合件251与主动件252脱离。另外，本实施例中的主动件252由齿轮和棘轮构成同轴固定连接或者一体成型而成，在一些实施例中，主动件252由直齿轮和棘轮构成同轴固定连接或者一体成型而成，本实施例中的从动件253的结构，只要是能够与轮子配接并能驱动轮子转动即可。As shown in FIGS. 16 to 18, in accordance with the clutch member 151 of the hand-propelled self-propelled traveling machine 100 in the first embodiment, the clutch member 251 of the hand-propelled self-propelled traveling machine in the second embodiment of the present application is also It has a first position and a second position, and the clutch member 251 switches between the first position and the second position. When the clutch member 251 is in the first position, the clutch member 251 allows the driving member 252 to transmit power to the driven member 253 , When the clutch member 251 is in the second position, the clutch member 251 disconnects the power transmission path between the motor and the wheel; in addition, in this embodiment, the switching of the clutch member 251 between the first position and the second position is also through The forward and reverse rotation of the motor is realized. The difference is that in this embodiment, the clutch member 251 is rotatably mounted to the driven member 253. When the clutch member 251 moves to the first position, the clutch member 251 contacts the driving member 252 and moves to the second position when the clutch member 251 moves At this time, the clutch member 251 is detached from the active member 252. In addition, the driving member 252 in this embodiment is formed by coaxial fixed connection or integral molding of gears and ratchets. In some embodiments, the driving member 252 is formed by coaxial fixed connection or integral molding of spur gears and ratchets. The structure of the follower 253 in this embodiment is only required if it can be mated with the wheel and can drive the wheel to rotate.

同样地，离合件251包括驱动部251c，连接部251a和活动部251b，连接部251a可转动地安装至主动件252或从动件253，活动部251b和驱动部251c分别连接至连接部251a或者与连接部251a一体成型。所述活动部251b具有断开位置和驱动位置，驱动部251c能够驱动活动部251b在断开位置和驱动位置之间切换；当活动部251b处于驱动位置时，马达轴能够驱动轮子转动，当活动部251b处于断开位置时，轮子能相对于马达轴自由转动。本实施例中的离合件251与第一实施例中的离合件251的结构排布不同且驱动部251c驱动活动部251b相对主动件252发生的运动的原理也不同。本实施例中的离合件251的连接部251a可转动地安装至从动件253，驱动部251c与活动部251b位于从动件253沿其厚度方向的同一侧。驱动部251c与主动件252的靠近驱动部251c的表面构成接触。在一些实施例中，从动件253沿其厚度方向开有连接孔253a，连接部251a配接至连接孔253a，驱动部251c与主动件252的棘轮的外表面构成接触且形成有垂直于该接触面252a的正压力。本实施例中的驱动部251c为一个金属弹片，与主动件252之间构成挤压接触从而形成产生摩擦的垂直于接触面252a的压力；作为一种可选择的实施方式，驱动部251c可以包括能够与主动件252构成磁性连接的磁性元件，通过磁吸力形成产生摩擦的垂直于接触面252a的压力，此时，主动件252可以本身由磁性材料制成也可以在接触面252a安装有磁性元件。Similarly, the clutch 251 includes a driving part 251c, a connecting part 251a and a movable part 251b, the connecting part 251a is rotatably mounted to the driving member 252 or the driven part 253, and the movable part 251b and the driving part 251c are respectively connected to the connecting part 251a or It is integrally formed with the connecting portion 251a. The movable portion 251b has an off position and a driving position, and the driving portion 251c can drive the movable portion 251b to switch between the off position and the driving position; when the movable portion 251b is in the driving position, the motor shaft can drive the wheels to rotate When the portion 251b is in the off position, the wheel can rotate freely with respect to the motor shaft. The structure of the clutch member 251 in this embodiment is different from that of the clutch member 251 in the first embodiment, and the principle of the movement of the driving portion 251c driving the movable portion 251b relative to the active member 252 is also different. The connecting portion 251a of the clutch 251 in this embodiment is rotatably attached to the follower 253, and the driving portion 251c and the movable portion 251b are located on the same side of the follower 253 in the thickness direction thereof. The driving portion 251c is in contact with the surface of the driving member 252 close to the driving portion 251c. In some embodiments, the follower 253 has a connecting hole 253a in its thickness direction, the connecting portion 251a is coupled to the connecting hole 253a, the driving portion 251c is in contact with the outer surface of the ratchet of the driving member 252, and is formed The positive pressure of the contact surface 252a. The driving part 251c in this embodiment is a metal dome, which forms a pressing contact with the active member 252 to form a frictional pressure perpendicular to the contact surface 252a; as an alternative embodiment, the driving part 251c may include A magnetic element that can form a magnetic connection with the active member 252, and a pressure perpendicular to the contact surface 252a that generates friction is formed by magnetic attraction. .

需要说明的是，本实施例中离合件251在第一位置与第二位置之间切换的运动原理与第一实施例中的离合件251不同。由于本实施例中的离合件251安装至从动件253，当马达驱动主动件252转动时，连接至从动件253的连接部251a并不跟随主动件252一起转动，仅仅是接触至主动件252的驱动部251c受到滑动摩擦力相对于主动件252发生位移，从而带动活动部251b相对于主动件252发生位移。在一些实施例中，当主动件252被马达驱动沿方向201’转动，驱动部251c在滑动摩擦力的作用下向前运动，从而带动活动部251b向下运动直到与棘轮啮合实现啮合驱动。反之，当主动件252被马达驱动沿与方向201’相反的方向转动，驱动部251c在滑动摩擦力的作用下向后运动，从而带动活动部251b向上运动实现离合断开。当然，主动件252上也可以设置有止挡部对活动部251b进行限位，第一实施例中可以适用于本实施例中的内容均能够应用到本实施例中，在此不作过多介绍。It should be noted that the movement principle of the clutch member 251 switching between the first position and the second position in this embodiment is different from the clutch member 251 in the first embodiment. Since the clutch member 251 in this embodiment is mounted to the driven member 253, when the motor drives the driving member 252 to rotate, the connecting portion 251a connected to the driven member 253 does not rotate along with the driving member 252, but only contacts the driving member The driving portion 251c of the 252 is displaced relative to the active member 252 by the sliding friction force, thereby driving the movable portion 251b to be displaced relative to the active member 252. In some embodiments, when the driving member 252 is driven by the motor to rotate in the direction 201 ', the driving portion 251c moves forward under the action of sliding friction, thereby driving the movable portion 251b downward until it engages with the ratchet wheel to achieve meshing driving. Conversely, when the driving member 252 is driven by the motor to rotate in a direction opposite to the direction 201 ', the driving portion 251c moves backward under the action of sliding friction, thereby driving the movable portion 251b to move upward to realize clutch disconnection. Of course, the active part 252 may also be provided with a stopper to limit the movable part 251b. The content applicable to the present embodiment in the first embodiment can be applied to this embodiment, and will not be described in detail here. .

Claims

一种手推式自驱行进机器，包括：A hand-push self-driving traveling machine includes:

主机；Host

轮子，用于支撑所述主机并带动所述主机行走；Wheels for supporting the host and driving the host to walk;

把手，与所述主机连接；Handle, connected to the host;

马达，用于驱动所述轮子转动；A motor for driving the wheel to rotate;

主动件，与所述马达配接并能被所述马达驱动；The active part is matched with the motor and can be driven by the motor;

从动件，与所述轮子配接并能驱动所述轮子转动；The follower is matched with the wheel and can drive the wheel to rotate;

离合件，能在第一位置和第二位置之间切换，在所述离合件位于第一位置时，离合件允许所述主动件将动力传输至所述从动件，在所述离合件位于第二位置时，所述离合件断开所述马达和所述轮子之间的动力的传递路径；The clutch member can be switched between a first position and a second position. When the clutch member is in the first position, the clutch member allows the driving member to transmit power to the driven member, where the clutch member is located In the second position, the clutch member disconnects the power transmission path between the motor and the wheel;

其中，所述离合件可转动地安装至所述主动件，在所述离合件转动至所述第一位置时，所述离合件与从动件接触，在所述离合件转动至所述第二位置时，所述离合件与所述从动件脱离；Wherein, the clutch member is rotatably mounted to the driving member, when the clutch member rotates to the first position, the clutch member contacts the driven member, and when the clutch member rotates to the first In the second position, the clutch member is separated from the follower member;

或者，所述离合件可转动地安装至所述从动件，在所述离合件转动至所述第一位置时，所述离合件与主动件接触，在所述离合件转动至所述第二位置时，所述离合件与所述主动件脱离。Alternatively, the clutch member is rotatably mounted to the driven member, when the clutch member rotates to the first position, the clutch member contacts the driving member, and when the clutch member rotates to the first In the second position, the clutch member is separated from the active member.
根据权利要求1所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 1, wherein,

所述离合件包括连接部、活动部和驱动部；所述连接部可转动地安装至所述主动件或所述从动件，所述活动部和所述驱动部分别连接至所述连接部或者与所述连接部一体成型。The clutch part includes a connecting part, a moving part and a driving part; the connecting part is rotatably mounted to the driving part or the driven part, and the moving part and the driving part are respectively connected to the connecting part Or integrally formed with the connecting part.
根据权利要求2所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 2, wherein,

所述马达包括马达轴；The motor includes a motor shaft;

所述活动部相对所述从动件具有断开位置和驱动位置，所述驱动部能够驱动所述活动部在所述断开位置和所述驱动位置之间切换；当所述活动部处于所述驱动位置时，所述马达轴能够驱动所述轮子转动，当所述活动部处于所述断开位置时，所述轮子能相对于所述马达轴自由转动。The movable part has an off position and a driving position relative to the follower, and the driving part can drive the movable part to switch between the off position and the driving position; when the movable part is in In the driving position, the motor shaft can drive the wheel to rotate, and when the movable portion is in the off position, the wheel can rotate freely with respect to the motor shaft.
根据权利要求2所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 2, wherein,

所述主动件上设置有用于限制所述活动部的活动范围的止挡部。The active part is provided with a stopper for limiting the movable range of the movable part.
根据权利要求3所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 3,

所述手推式自驱行进机器还包括用于容纳所述主动件和所述从动件的壳体，当所述离合件可转动地安装至所述主动件时，所述连接部安装至所述主动件，所述驱动部与所述壳体表面构成接触且产生有垂直于接触面的正压力，所述活动部能够与所述从动件接触或分离。The hand-propelled self-driving traveling machine further includes a housing for accommodating the driving member and the driven member, and when the clutch member is rotatably mounted to the driving member, the connecting portion is mounted to In the driving part, the driving part makes contact with the surface of the housing and generates a positive pressure perpendicular to the contact surface, and the movable part can contact or separate from the driven part.
根据权利要求5所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 5, wherein,

所述壳体形成有一个接触面，所述驱动部具有一个向外突出的凸面，所述凸面与所述接触面构成挤压接触。The housing is formed with a contact surface, and the driving portion has a convex surface protruding outward, and the convex surface and the contact surface form a pressing contact.
根据权利要求5所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 5, wherein,

所述主动件为齿轮，所述从动件为棘轮，所述驱动部和所述活动部分别沿所述主动件的厚度方向设置于所述主动件的两侧。The driving member is a gear, and the driven member is a ratchet. The driving portion and the movable portion are respectively disposed on both sides of the driving member along the thickness direction of the driving member.
根据权利要求3所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 3, wherein,

当所述离合件可转动地安装至所述从动件时，所述连接部安装至所述从动件，所述驱动部与所述主动件表面构成接触且产生有垂直于接触面的正压力，所述活动部能够与所述主动件接触或分离。When the clutch member is rotatably mounted to the follower member, the connecting portion is mounted to the follower member, the driving portion comes into contact with the surface of the driving member and a positive surface perpendicular to the contact surface is generated With pressure, the movable part can contact or separate from the active part.
根据权利要求8所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 8, wherein,

所述主动件为棘轮，所述从动件为齿轮，所述驱动部和所述活动部沿所述从动件的厚度方向设置于所述从动件的同侧。The driving member is a ratchet wheel, the driven member is a gear, and the driving portion and the movable portion are disposed on the same side of the driven member along the thickness direction of the driven member.
根据权利要求1所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 1, wherein,

当所述马达沿第一方向转动时，所述离合件能够从所述第二位置切换至所述第一位置；当所述马达沿与所述第一方向相反的第二方向转动时，所述离合件从所述第一位置切换至所述第二位置。When the motor rotates in the first direction, the clutch can be switched from the second position to the first position; when the motor rotates in the second direction opposite to the first direction, the The clutch is switched from the first position to the second position.
根据权利要求10所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 10, wherein,

当所述马达沿第一方向转动时，活动部能够相对所述主动件由所述断开位置运动至所述驱动位置；当所述马达沿所述第二方向转动，所述活动部相对所述主动件由所述驱动位置运动至所述断开位置。When the motor rotates in the first direction, the movable portion can move from the disconnected position to the driving position relative to the active member; when the motor rotates in the second direction, the movable portion is relatively moved The driving member moves from the driving position to the off position.
根据权利要求3或8所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 3 or 8,

所述手推式自驱行进机器还包括用于与所述驱动部构成磁性接触的磁性元件。The hand-push self-driving traveling machine further includes a magnetic element for making magnetic contact with the driving part.
根据权利要求1所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 1,

所述手推式自驱行进机器还包括：The hand-propelled self-driving traveling machine further includes:

控制装置，用于控制所述马达的运转；A control device for controlling the operation of the motor;

所述控制装置包括：The control device includes:

操作开关，用户供用户操作，且与所述马达实现连接或者通信连接；The operation switch is for the user to operate, and connects or communicates with the motor;

启动模块，能够发出第一信号和第二信号，其中所述第一信号用于控制所述马达沿第一方向转动，所述第二信号用于控制所述马达停止转动。The starting module can send out a first signal and a second signal, wherein the first signal is used to control the motor to rotate in the first direction, and the second signal is used to control the motor to stop rotating.
根据权利要求13所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 13, wherein,

所述控制装置还包括：The control device further includes:

控制模块，与所述操作开关构成通信连接或电连接，The control module forms a communication connection or an electrical connection with the operation switch,

其中，当所述启动模块发出所述第二信号时，所述控制模块控制所述马达在预设时长内沿第二方向转动，所述预设时长为2秒至20秒。Wherein, when the start module sends the second signal, the control module controls the motor to rotate in the second direction within a preset duration, the preset duration is 2 to 20 seconds.
一种手推式自驱行进机器，包括：A hand-push self-driving traveling machine includes:

主机；Host

轮子，用于支撑所述主机并带动所述主机行走；Wheels for supporting the host and driving the host to walk;

把手，与所述主机连接；Handle, connected to the host;

马达，用于驱动所述轮子转动；A motor for driving the wheel to rotate;

主动件，与所述马达配接并能被所述马达驱动；The active part is matched with the motor and can be driven by the motor;

从动件，与所述轮子配接并能驱动所述轮子转动；The follower is matched with the wheel and can drive the wheel to rotate;

离合件，能在第一位置和第二位置之间切换，在所述离合件位于第一位置时，离合件允许所述主动件将动力传输至所述从动件，在所述离合件位于第二位置时，所述离合件断开所述马达和所述轮子之间的动力的传递路径；The clutch member can be switched between a first position and a second position. When the clutch member is in the first position, the clutch member allows the driving member to transmit power to the driven member, where the clutch member is located In the second position, the clutch member disconnects the power transmission path between the motor and the wheel;

其中，所述离合件可转动地安装至所述主动件，在所述离合件转动至所述第一位置时，所述离合件与从动件接触，在所述离合件转动至所述第二位置时，所述离合件与所述从动件脱离。Wherein, the clutch member is rotatably mounted to the driving member, when the clutch member rotates to the first position, the clutch member contacts the driven member, and when the clutch member rotates to the first In the second position, the clutch member is separated from the driven member.
根据权利要求15所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 15, wherein,

所述离合件包括连接部、活动部和驱动部；所述连接部可转动地安装至所述主动件或所述从动件，所述活动部和所述驱动部分别连接至所述连接部或者与所述连接部一体成型。The clutch part includes a connecting part, a moving part and a driving part; the connecting part is rotatably mounted to the driving part or the driven part, and the moving part and the driving part are respectively connected to the connecting part Or integrally formed with the connecting part.
根据权利要求16所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 16, wherein,

所述马达包括马达轴；The motor includes a motor shaft;

所述活动部相对所述从动件具有断开位置和驱动位置，所述驱动部能够驱动所述活动部在所述断开位置和所述驱动位置之间切换；当所述活动部处于所述驱动位置时，所述马达轴能够驱动所述轮子转动，当所述活动部处于所述断开位置时，所述轮子能相对于所述马达轴自由转动。The movable part has an off position and a driving position relative to the follower, and the driving part can drive the movable part to switch between the off position and the driving position; when the movable part is in In the driving position, the motor shaft can drive the wheel to rotate, and when the movable portion is in the off position, the wheel can rotate freely with respect to the motor shaft.
根据权利要求16所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 16, wherein,

所述主动件上设置有用于限制所述活动部的活动范围的止挡部。The active part is provided with a stopper for limiting the movable range of the movable part.
根据权利要求17所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 17,

所述手推式自驱行进机器还包括用于容纳所述主动件和所述从动件的壳体，当所述离合件可转动地安装至所述主动件时，所述连接部安装至所述主动件，所述驱动部与所述壳体表面构成接触且产生有垂直于接触面的正压力，所述活动部能够与所述从动件接触或分离。The hand-propelled self-driving traveling machine further includes a housing for accommodating the driving member and the driven member, and when the clutch member is rotatably mounted to the driving member, the connecting portion is mounted to In the driving part, the driving part makes contact with the surface of the housing and generates a positive pressure perpendicular to the contact surface, and the movable part can contact or separate from the driven part.
根据权利要求19所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 19, wherein

所述壳体形成有一个接触面，所述驱动部具有一个向外突出的凸面，所述凸面与所述接触面构成挤压接触。The housing is formed with a contact surface, and the driving portion has a convex surface protruding outward, and the convex surface and the contact surface form a pressing contact.
根据权利要求19所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 19, wherein

所述主动件为齿轮，所述从动件为棘轮，所述驱动部和所述活动部分别沿所述主动件的厚度方向设置于所述主动件的两侧。The driving member is a gear, and the driven member is a ratchet. The driving portion and the movable portion are respectively disposed on both sides of the driving member along the thickness direction of the driving member.
根据权利要求15所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 15, wherein,

当所述马达沿第一方向转动时，所述离合件能够从所述第二位置切换至所述第一位置；当所述马达沿与所述第一方向相反的第二方向转动时，所述离合件从所述第一位置切换至所述第二位置。When the motor rotates in the first direction, the clutch can be switched from the second position to the first position; when the motor rotates in the second direction opposite to the first direction, the The clutch is switched from the first position to the second position.
根据权利要求22所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 22, wherein,

当所述马达沿第一方向转动时，活动部能够相对所述主动件由所述断开位置运动至所述驱动位置；当所述马达沿所述第二方向转动，所述活动部相对所述主动件由所述驱动位置运动至所述断开位置。When the motor rotates in the first direction, the movable portion can move from the disconnected position to the driving position relative to the active member; when the motor rotates in the second direction, the movable portion is relatively moved The driving member moves from the driving position to the off position.
根据权利要求17所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 17,

所述手推式自驱行进机器还包括用于与所述驱动部构成磁性接触的磁性元件。The hand-push self-driving traveling machine further includes a magnetic element for making magnetic contact with the driving part.
根据权利要求15所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 15,

所述手推式自驱行进机器还包括：The hand-propelled self-driving traveling machine further includes:

控制装置，用于控制所述马达的运转；A control device for controlling the operation of the motor;

所述控制装置包括：The control device includes:

操作开关，用户供用户操作，且与所述马达实现连接或者通信连接；The operation switch is for the user to operate, and connects or communicates with the motor;

启动模块，能够发出第一信号和第二信号，其中所述第一信号用于控制所述马达沿第一方向转动，所述第二信号用于控制所述马达停止转动。The starting module can send out a first signal and a second signal, wherein the first signal is used to control the motor to rotate in the first direction, and the second signal is used to control the motor to stop rotating.
根据权利要求25所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 25, wherein,

所述控制装置还包括：The control device further includes:

控制模块，与所述操作开关构成通信连接或电连接，The control module forms a communication connection or an electrical connection with the operation switch,

其中，当所述启动模块发出所述第二信号时，所述控制模块控制所述马达在预设时长内沿第二方向转动，所述预设时长为2秒至20秒。Wherein, when the start module sends the second signal, the control module controls the motor to rotate in the second direction within a preset duration, the preset duration is 2 to 20 seconds.
一种手推式自驱行进机器，包括：A hand-push self-driving traveling machine includes:

主机；Host

轮子，用于支撑所述主机并带动所述主机行走；Wheels for supporting the host and driving the host to walk;

把手，与所述主机连接；Handle, connected to the host;

马达，用于驱动所述轮子转动；A motor for driving the wheel to rotate;

主动件，与所述马达配接并能被所述马达驱动；The active part is matched with the motor and can be driven by the motor;

从动件，与所述轮子配接并能驱动所述轮子转动；The follower is matched with the wheel and can drive the wheel to rotate;

离合件，能在第一位置和第二位置之间切换，在所述离合件位于第一位置时，离合件允许所述主动件将动力传输至所述从动件，在所述离合件位于第二位置时，所述离合件断开所述马达和所述轮子之间的动力的传递路径；The clutch member can be switched between a first position and a second position. When the clutch member is in the first position, the clutch member allows the driving member to transmit power to the driven member, where the clutch member is located In the second position, the clutch member disconnects the power transmission path between the motor and the wheel;

其中，所述离合件可转动地安装至所述从动件，在所述离合件转动至所述第一位置时，所述离合件与主动件接触，在所述离合件转动至所述第二位置时，所述离合件与所述主动件脱离。Wherein, the clutch member is rotatably mounted to the driven member, when the clutch member rotates to the first position, the clutch member contacts the driving member, and when the clutch member rotates to the first In the second position, the clutch member is separated from the active member.
根据权利要求27所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 27, wherein,

所述离合件包括连接部、活动部和驱动部；所述连接部可转动地安装至所述主动件或所述从动件，所述活动部和所述驱动部分别连接至所述连接部或者与所述连接部一体成型。The clutch part includes a connecting part, a moving part and a driving part; the connecting part is rotatably mounted to the driving part or the driven part, and the moving part and the driving part are respectively connected to the connecting part Or integrally formed with the connecting part.
根据权利要求28所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 28, wherein,

所述马达包括马达轴；The motor includes a motor shaft;

所述活动部相对所述从动件具有断开位置和驱动位置，所述驱动部能够驱动所述活动部在所述断开位置和所述驱动位置之间切换；当所述活动部处于所述驱动位置时，所述马达轴能够驱动所述轮子转动，当所述活动部处于所述断开位置时，所述轮子能相对于所述马达轴自由转动。The movable part has an off position and a driving position relative to the follower, and the driving part can drive the movable part to switch between the off position and the driving position; when the movable part is in In the driving position, the motor shaft can drive the wheel to rotate, and when the movable portion is in the off position, the wheel can rotate freely with respect to the motor shaft.
根据权利要求29所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 29,

所述手推式自驱行进机器还包括用于容纳所述主动件和所述从动件的壳体，当所述离合件可转动地安装至所述从动件时，所述连接部安装至所述从动件，所述驱动部与所述主动件表面构成接触且产生有垂直于接触面的正压力，所述活动部能够与所述主动件接触或分离。The hand-propelled self-driving traveling machine further includes a housing for accommodating the driving member and the driven member, and when the clutch member is rotatably mounted to the driven member, the connecting portion is installed To the follower, the driving part comes into contact with the surface of the active part and generates a positive pressure perpendicular to the contact surface, and the movable part can contact or separate from the active part.
根据权利要求30所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 30, wherein,

所述主动件为棘轮，所述从动件为齿轮，所述驱动部和所述活动部沿所述从动件的厚度方向设置于所述从动件的同侧。The driving member is a ratchet wheel, the driven member is a gear, and the driving portion and the movable portion are disposed on the same side of the driven member along the thickness direction of the driven member.
根据权利要求30所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 30, wherein,

所述壳体形成有一个接触面，所述驱动部具有一个向外突出的凸面，所述凸面与所述接触面构成挤压接触。The housing is formed with a contact surface, and the driving portion has a convex surface protruding outward, and the convex surface and the contact surface form a pressing contact.
根据权利要求3所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 3, wherein,

当所述离合件可转动地安装至所述从动件时，所述连接部安装至所述从动件，所述驱动部与所述主动件表面构成接触且产生有垂直于接触面的正压力，所述活动部能够与所述主动件接触或分离。When the clutch member is rotatably mounted to the follower member, the connecting portion is mounted to the follower member, the driving portion comes into contact with the surface of the driving member and a positive surface perpendicular to the contact surface is generated With pressure, the movable part can contact or separate from the active part.
根据权利要求29所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 29, wherein,

当所述马达沿第一方向转动时，所述离合件能够从所述第二位置切换至所述第一位置；当所述马达沿与所述第一方向相反的第二方向转动时，所述离合件从所述第一位置切换至所述第二位置。When the motor rotates in the first direction, the clutch can be switched from the second position to the first position; when the motor rotates in the second direction opposite to the first direction, the The clutch is switched from the first position to the second position.
根据权利要求34所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 34, wherein,

当所述马达沿第一方向转动时，所述活动部能够相对所述主动件由所述断开位置运动至所述驱动位置；当所述马达沿所述第二方向转动，所述活动部相对所述主动件由所述驱动位置运动至所述断开位置。When the motor rotates in the first direction, the movable portion can move from the disconnected position to the driving position relative to the active member; when the motor rotates in the second direction, the movable portion Relative to the active member, it is moved from the driving position to the off position.
根据权利要求35所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 35,

所述手推式自驱行进机器还包括用于与所述驱动部构成磁性接触的磁性元件。The hand-push self-driving traveling machine further includes a magnetic element for making magnetic contact with the driving part.
根据权利要求27所述的手推式自驱行进机器，The hand-propelled self-propelled traveling machine according to claim 27,

所述手推式自驱行进机器还包括：The hand-propelled self-driving traveling machine further includes:

控制装置，用于控制所述马达的运转；A control device for controlling the operation of the motor;

所述控制装置包括：The control device includes:

操作开关，用户供用户操作，且与所述马达实现连接或者通信连接；The operation switch is for the user to operate, and connects or communicates with the motor;

启动模块，能够发出第一信号和第二信号，其中所述第一信号用于控制所述马达沿第一方向转动，所述第二信号用于控制所述马达停止转动。The starting module can send out a first signal and a second signal, wherein the first signal is used to control the motor to rotate in the first direction, and the second signal is used to control the motor to stop rotating.
根据权利要求37所述的手推式自驱行进机器，其中，The hand-propelled self-propelled traveling machine according to claim 37, wherein,

所述控制装置还包括：The control device further includes:

控制模块，与所述操作开关构成通信连接或电连接，The control module forms a communication connection or an electrical connection with the operation switch,

其中，当所述启动模块发出所述第二信号时，所述控制模块控制所述马达在预设时长内沿第二方向转动，所述预设时长为2秒至20秒。Wherein, when the start module sends the second signal, the control module controls the motor to rotate in the second direction within a preset duration, the preset duration is 2 seconds to 20 seconds.